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77 lines
2.0 KiB
77 lines
2.0 KiB
import sys
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import os
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from selfdrive.locationd.test.ublox import UBloxMessage
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from selfdrive.locationd.test.ubloxd import gen_solution, gen_raw, gen_nav_data
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from common import realtime
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def mkdirs_exists_ok(path):
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try:
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os.makedirs(path)
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except OSError:
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if not os.path.isdir(path):
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raise
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def parser_test(fn, prefix):
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nav_frame_buffer = {}
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nav_frame_buffer[0] = {}
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for i in range(1, 33):
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nav_frame_buffer[0][i] = {}
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if not os.path.exists(prefix):
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print('Prefix invalid')
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sys.exit(-1)
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with open(fn, 'rb') as f:
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i = 0
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saved_i = 0
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msg = UBloxMessage()
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while True:
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n = msg.needed_bytes()
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b = f.read(n)
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if not b:
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break
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msg.add(b)
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if msg.valid():
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i += 1
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if msg.name() == 'NAV_PVT':
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sol = gen_solution(msg)
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sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(sol.to_bytes())
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saved_i += 1
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elif msg.name() == 'RXM_RAW':
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raw = gen_raw(msg)
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raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(raw.to_bytes())
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saved_i += 1
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elif msg.name() == 'RXM_SFRBX':
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nav = gen_nav_data(msg, nav_frame_buffer)
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if nav is not None:
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nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
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f1.write(nav.to_bytes())
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saved_i += 1
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msg = UBloxMessage()
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msg.debug_level = 0
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print('Parsed {} msgs'.format(i))
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print('Generated {} cereal events'.format(saved_i))
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if __name__ == "__main__":
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if len(sys.argv) < 3:
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print('Format: ubloxd_py_test.py file_path prefix')
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sys.exit(0)
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fn = sys.argv[1]
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if not os.path.isfile(fn):
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print('File path invalid')
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sys.exit(0)
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prefix = sys.argv[2]
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mkdirs_exists_ok(prefix)
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parser_test(fn, prefix)
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